Optoelectronic digital apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a moving target, and respective operation method

ABSTRACT

An embodiment of an optoelectronic apparatus for assisting an operator in determining the shooting attitude to give to a hand-held grenade launcher so as to strike a moving target including an electronic processing unit configured so as to: measure the pitch angle and the heading angle of the grenade launcher and the distance of the target when the grenade launcher is moved by the operator during the pointing of the moving target, determine position data indicative of the positions of the moving target, determine a future impact time of the grenade on the target on the basis of position data and of data indicative of the ballistics of the grenade, determine a shooting attitude of the target on the basis of the impact time, measure the pitch angle and heading angle indicating the attitude imparted to the grenade launcher by the operator, compute a pitch difference between the shooting pitch angle and the pitch angle measured and a heading difference between the shooting heading angle and the heading angle measured, communicate to the operator the variation of pitch and/or heading to be given to the grenade launcher so that the pitch and/or heading difference is zero.

PRIORITY CLAIM

The present application is a national phase application filed pursuantto 35 USC §371 of International Patent Application Serial No.PCT/IB2011/001620, filed Jul. 12, 2011; which further claims the benefitof Italian Patent Application Serial No. TV2010A000100 filed Jul. 12,2010; all of the foregoing applications are incorporated herein byreference in their entireties.

TECHNICAL FIELD

An embodiment relates to an optoelectronic digital apparatus forassisting an operator in determining the shooting attitude to be givento a hand-held grenade launcher so as to strike a moving target and to arespective operation method.

BACKGROUND

The changing scenario of use of the armed forces have recently imposed acomprehensive reconsideration of the tasks and equipment to be allocatedto military operators in the operations settings and in particular themore widespread and effective use of high-caliber ammunition so as toallow high precision during combat and consequentially a high capacityof reducing enemy capability.

For this purpose, it became necessary to equip the military operatorwith a weapon system that includes not only a traditional hand-heldweapon such as a rifle, but also a grenade launcher, which is coupled tothe hand-held weapon to enable the operator to launch towards a movingtarget high-caliber ammunition, greater than or equal to approximately40 mm, which as known, is indicated by the word “grenade”.

However, the use of weapon systems integrating a grenade launcher of theabove-described type has had, to date, a relatively limited distributionbecause the probability of failure of striking a moving target by asingle grenade was found to be quite high, and, therefore, notacceptable in war scenarios.

In fact, the probability of failure in hitting a moving target with agrenade launched from a weapon system of the type described abovecrucially depends on determining the correct shooting attitude to begiven to a grenade launcher by the operator. Such an assessment hasproven, however, to be extremely complex and, therefore, susceptible toerrors as the operator must make, extremely quickly, especially incombat scenarios, a visual estimate of the distance from the movingtarget, a visual estimate of the angle of the site where the movingtarget is, and a determination of the shooting attitude to be given tothe grenade launcher taking into account the movement of the target, thedistance, the angle, and the trajectory of the grenade, whichtrajectory, as known, may prove to be particularly difficult todetermine.

EP 0785 406 A2, which is incorporated by reference, relates to animproved method and device for aiming and firing a rifle-mounted grenadelauncher without having to approximate the range of a target and thenmanually adjust the position of subsequently fired grenades. Thegrenadier initiates the process by pointing the grenade launcher at thestationary target. The range and azimuth of the stationary target aredetermined by a microprocessor-controlled laser range-finder/digitalcompass combination. A ballistic solution is calculated by themicroprocessor and the superelevation required to place the grenade on astationary target is displayed on one of several video displays.

Therefore, the use of weapon systems provided with hand-held grenadelaunchers of the above-described type has proven to be very inconvenientto date, as it involves a high localization risk of the militaryoperator along with a low probability of striking a target withgrenades.

SUMMARY

An embodiment is an optoelectronic digital apparatus adapted forassisting an operator both in determining the shooting attitude to begiven to the hand-held grenade launcher and in the spatial orientationto be given, moment by moment, to the grenade launcher according to thegiven shooting attitude responding to the guidance of the grenadelauncher by the operator itself, so as to increase the probability ofsuccess of striking a moving target with a grenade.

According to an embodiment an optoelectronic digital apparatus isprovided for assisting an operator in determining the shooting attitudeto be given to a hand-held grenade launcher so as to strike a movingtarget with a grenade.

According to an embodiment a method for assisting an operator is furtherprovided, by way of an optoelectronic digital apparatus, in determiningthe shooting attitude to be given to a hand-held grenade launcher so asto strike a moving target, by way of a grenade.

According to an embodiment further provided is a computer productloadable onto the memory of an electronic calculator for assisting anoperator, when implemented by the electronic computer itself, indetermining the shooting attitude to be given to a hand-held grenadelauncher so as to strike a moving target.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more non-limitive embodiments will now be described withreference to the annexed drawings, in which:

FIG. 1 schematically shows a grenade launcher in a target-pointingattitude provided with an assisting optoelectronic digital apparatus,made according to an embodiment;

FIG. 2 is a block diagram of the assisting optoelectronic apparatusshown in FIG. 1 according to an embodiment;

FIG. 3 is a schematic view from above and side elevation of the grenadelauncher of FIG. 1 in a shooting attitude according to an embodiment;

FIGS. 4 a, 4 b and 4 c show as a whole a flowchart containing theoperations implemented by the assisting optoelectronic digital apparatusshown in FIG. 1 according to an embodiment;

FIGS. 5, 6 7 and 8 schematically show examples of the graphical crossgenerated by the assisting optoelectronic apparatus to indicate to themilitary operator the direction to be given to the grenade launcher tostrike the moving target according to an embodiment;

FIGS. 9 and 10 show two examples of the ideal and actual grenadetrajectory in a Cartesian plane of reference, when a respectively “flat”and a “non-flat” shot typology is executed, according to an embodiment.

DETAILED DESCRIPTION

With reference to FIG. 1, with number 1 is indicated as a whole ahand-held grenade launcher, to which an assisting optoelectronicapparatus 2 is coupled, the apparatus 2 being configured so as to assistan operator in determining the shooting attitude to be given to thegrenade launcher 1 itself so as to strike a moving target k.

The assisting optoelectronic apparatus 2 is also configured so as tocommunicate to the operator, moment by moment, the angular pitch andheading movements to be given to the grenade launcher 1 to strike thetarget k, based on the differences in space present between thedetermined shooting attitude and the instantaneous attitude given to thegrenade launcher 1 by the operator and the given next motion of thetarget k.

The grenade launcher 1 can be preferably, but not necessarily, mountedon a hand-held weapon 3, for example, a rifle and in the example shownin FIG. 1 includes a grenade launch tube 4 presenting a longitudinalaxis L coincident and integral with a first Cartesian axis X_(BODY) of apredetermined body reference system ΣBODY associated with the grenadelauncher 1, and presenting a second Cartesian axis Y_(BODY), orthogonalto the first Cartesian axis X_(BODY), and a third Cartesian axisZ_(BODY) orthogonal to the first X_(BODY) and to the second Cartesianaxis Y_(BODY).

The grenade launcher 1 also includes a pointing device 5 adapted toenable the operator to aim at the moving target k and then place thegrenade launcher 1 in a pointing attitude on the basis of the display ofthe target k itself.

The pointing device 5 is of a known type and, therefore, will not befurther described except to clarify that it can be configured so that,for example, in the pointing attitude, the longitudinal axis L of thegrenade launch tube 4 intersects the target k.

With reference to FIG. 2, the assisting optoelectronic apparatus 2includes an electronic distance measuring device 6, which is configuredto measure the distance Dist_(target) of the target k from the grenadelauncher 1; and an electronic attitude-measuring device 7, which isconfigured for determining the instantaneous attitude of the grenadelauncher 1, i.e., the pitch angle Δα_(pitch) and the heading angleΔα_(head) that characterize the attitude itself.

The assisting optoelectronic apparatus 2 also includes a user interface8 by which an operator is able to issue commands to the assistingoptoelectronic apparatus 2, and receives indications on variation inattitude Δα_(pitch) and Δα_(head) to be given to the grenade launcher 1to strike the moving target k.

The assisting optoelectronic apparatus 2 also includes an electronicprocessing unit 9, which is configured so as to compute the pitch angleαf_(pitch), and the heading angle αf_(head) that characterize theshooting attitude, and communicates to the operator, by way of the userinterface 8 and, in response to the movement of the grenade launcher 1itself by the operator, the variation in attitude Δα_(pitch), Δα_(head)to be given to the grenade launcher 1 to orientate it so as to strikethe moving target k.

The assisting optoelectronic apparatus 2 further includes a memory unit10 containing a series of ammunition-data indicating a plurality ofdifferent grenade types employable in the grenade launcher 1.

The memory unit 10 further contains, for each type of grenade, a seriesof ballistic data associated with the grenade itself, such as: thefrontal area S of the grenade, i.e., the area of the front surface ofthe grenade itself; the mass m of the grenade; the coefficient ofaerodynamic resistance Cd of the grenade; the lift coefficient Cl of thegrenade; the launching speed of the grenade Vin; and a coefficient Vin1correlated with the launching speed variation Vin of the grenade atchanging temperature T.

The memory unit 10 is also adapted for further storing: environmentaldata indicating the atmospheric pressure p, the thermodynamic constantof air R; and precision data indicating a minimum desired precisionerr_(y) of impact of the grenade on the target k along a vertical axis(e.g., the axis Y in FIG. 1), which is orthogonal to a flat Earth'sground reference surface, and a minimum desired precision err_(x) ofimpact of the grenade on the target k along a horizontal axis (e.g. theaxis X in FIG. 1) parallel to a flat Earth's ground surface in theshooting direction (errors related to the action range of the grenade inuse).

The assisting optoelectronic apparatus 2 also includes sensors 11adapted to measure the air temperature T, corresponding in the initialstep, to the temperature of the grenade.

With reference to FIG. 2, the distance-measuring device 6 may include,for example, a LASER rangefinder (acronym for Light Amplification byStimulated Emission of Radiation), which is configured so as to emitlaser pulses towards the target, and, therefore, determining thedistance Dist_(target) of the target from the grenade launcher 1 infunction of the “flight time” t_(flight) of the LASER pulse.

Regarding instead the electronic attitude-measuring device 7, in theexample shown in FIG. 2 it includes an inertial electronic platform 12configured to provide in output the acceleration components Ax, Ay, Azand angular velocity components Gx, Gy and Gz of the grenade launcher 1determined with respect to the body reference system Σ_(BODY).

In particular, in the example shown in FIG. 2, the inertial electronicplatform 12 conveniently includes one or more accelerometers (notillustrated), for example, a dual-axis accelerometer and two single-axisaccelerometers, presenting two measuring axes arranged along the axesX_(BODY) and Y_(BODY) of the body reference system Σ_(BODY); and one ormore gyroscopes presenting a total of three measuring axes arrangedparallel to the axes X_(BODY), Y_(BODY) and Z_(BODY) of the bodyreference system Σ_(BODY).

The attitude-measuring device 7 also includes a computing module 13receiving the input acceleration components Ax, Ay, Az, and the angularvelocity components Gx, Gy and Gz measured by the electronic inertialplatform 12, thus processing them to provide in output the pitch angleΔα_(pitch), and the heading angle Δα_(head).

In this case, the pitch Δα_(pitch) and heading Δα_(head) angles can beconveniently determined by the computing module 13 by way of, forexample, the computing method described in the patent application filedin Italy on Apr. 12, 2010 with the No. TV2010A000060, which is hereincorporated by reference.

Regarding the user interface 8, including a screen or display 14 tovisualize one or more graphic interfaces, a control device 15, andpreferably, but not necessarily, a voice message generating device 16.

In particular, the electronic processing unit 9 can be configured so asto ensure that the display 14 and/or the voice message generating device16 notifies the operator of attitude variations Δα_(pitch) and Δα_(head)to be given to the grenade launcher 1, while the control device 15 mayinclude a keyboard provided with a set of keys through which theoperator imparts commands to the assisting optoelectronic apparatus 2.In the example shown in FIG. 2, the display 14 is conveniently of anOLED type (acronym for Organic Light Emitting Diode) while theelectronic processing unit 9 is configured to ensure that the display 14also visualizes a supporting graphical interface 14 a representing theattitude variation Δα_(pitch) and Δα_(head) to be given to the grenadelauncher 1 to strike the moving target k.

In detail, the electronic processing unit 9 is configured to ensure thatthe assisting graphical interface 14 a visualized by the display 14includes a graphical attitude cross 18 provided with a plurality ofluminous segments arranged aligned one after the other so as to form afirst and a second attitude branch which are mutually orthogonal andintersect a common central point.

More in detail, in the example shown in FIGS. 5-8, the electronicprocessing unit 9 is configured to switch on/off:

the segments of a vertical attitude branch 20 as a function of thepositive or negative variation Δα_(pitch) of the pitch angle α_(pitch)to be given to the grenade launcher 1 so as to orient it in the shootingattitude;

the segments of a horizontal attitude branch 21 as a function ofpositive or negative variation of Δα_(head) the heading angle α_(head)to be given to the grenade launcher 1 so as to orient it in the shootingattitude.

More specifically, in the example shown in FIGS. 5-8, the attitudebranch 20 is subdivided in correspondence to the midpoint in a first 20a and in a second luminous branch 20 b, wherein the first luminousbranch 20 a includes a predetermined number N1 of segments adapted to beswitched on/off in function of the negative variation of the pitch angleΔα_(pitch), while the second luminous branch 20 b includes apredetermined number N1 of segments adapted for being switched on/off infunction of the negative variation of the pitch angle Δα_(pitch).

The second luminous branch 21 is in turn divided in correspondence tothe midpoint in a first 21 a and in a second luminous branch 21 b,wherein the first luminous branch 21 a includes a predetermined numberN3 of segments adapted for being switched on/off in function of thenegative variation of the heading angle Δα_(head), while the secondluminous branch 21 b includes a predetermined number N4 of segmentsadapted for being switched on/off in function of the positive variationof the heading angle Δα_(head).

It should be specified that with the following term “shooting attitude”of the grenade launcher 1 it will be intended the condition in which thegrenade launcher 1 is oriented in space ensuring that the grenade willstrike the target K; while with the term “pointing attitude” it will beintended the condition in which the operator points at the target by wayof the pointing device 5 (FIG. 1).

More specifically, with reference to FIG. 3, at a generic moment t_(i),the general attitude of the grenade launcher 1 is characterized by apitch angle α_(PITCH)(t_(i)) and a heading angle α_(HEAD)(t_(i)),wherein the pitch angle α_(PITCH)(t_(i)) corresponds to the anglepresent between the first Cartesian axis X_(BODY) and a reference planelying on Earth's ground level; while the heading angle α_(HEAD)(t_(i))corresponds to the azimuth angle present between the first Cartesianaxis Y_(BODY) and Earth's geographic NORTH.

As for the voice message generating device 16 it can be configured so asto communicate voice messages containing the attitude variationΔα_(head) and Δα_(pitch) to be given to the grenade launcher 1 to strikethe moving target. The voice-message generating device 16 can include,for example, an electronic digital unit configured to produce digitalvoice messages and a loudspeaker such as a headset coupled to theelectronic digital unit and usable by the operator for listening toinformation relative to the attitude variation Δα_(head) and Δα_(pitch)to be given to the grenade launcher 1.

Regarding the electronic processing unit 9, it can include amicroprocessor receiving in input: pitch Δα_(pitch) and headingΔα_(head) angles; the distance Dist_(target) of the target; and commandsgiven by the user by way of the control device 15.

The electronic processing unit 9 also receives a series of dataindicative of the type of grenade to be launched such as: the frontalarea S, the mass m, the coefficient of aerodynamic resistance Cd; thelift coefficient Cl; the speed of release Vin of the grenade; and thecoefficient of variation Vin1.

The electronic processing unit 9 further receives a series of dataindicative of the atmospheric pressure p; of the thermodynamic constantof the air R; and data indicative of minimum desired precision impacterr_(y) and err_(x) along the X and Y axis respectively.

The electronic processing unit 9 is adapted to implement a computingmethod that, in an embodiment, processes the input variables listedabove to communicate to the operator in output, moment by moment, theattitude variation Δα_(pitch) and Δα_(head) to be given to the grenadelauncher 1 for achieving the correct shooting attitude necessary tostrike a moving target k.

More specifically, the electronic processing unit 9 is adapted to varythe number N1 and/or N2 of switching on/off of the segments contained inthe first luminous branch 20, and the number N3 and/or N4 of switchingon/off of the segments contained in the second luminous branch 21, so asto conveniently visually notify the operator the angle to be given so asto place the grenade launcher 1 in the shooting attitude.

With reference to FIGS. 4 a, 4 b and 4 c it will be described below acomputing method implemented by the electronic processing unit 9 todetermine the attitude variations Δα_(pitch) and Δα_(head) to be givento the grenade launcher 1 to strike the moving target k where it isassumed that the assisting optoelectronic apparatus 2 is configured/seton the basis of a particular type of grenade.

In particular, the configuration/setting of the assisting optoelectronicapparatus 2 can provide that: the electronic processing unit 9 notifiesthe operator by way of the user interface 8 the different types ofgrenades usable contained in the memory unit 10 and determines in thememory unit 10 itself the data that characterize the grenade ballistics,in response to a selection command of the grenade given by the operator.

In the initial step, the operator selects, by way of the user interface8, the type of shooting trajectory to be given to the grenade, which maycorrespond to a first type, later indicated with “flat shot” an exampleof which is shown in FIG. 9, or a second type, later indicated with“non-flat shot” an example of which is shown in FIG. 10 (block 100).

The method provides a series of data-acquisition operations, and aseries of computing-attitude operations to be given to the grenadelauncher 1 to strike the moving target k on the basis of the acquireddata.

In particular, the method preferably, but not necessarily, provides thatthe electronic processing unit 9 communicates to the operator throughthe user interface 8 a request of pointing/tracking of the target k byway of the grenade launcher for a given time interval.

The operator orients the grenade launcher 1 towards the target k so asto position it in the pointing attitude (block 110) (FIG. 1) andsimultaneously imparts by way of the user interface 8 a command toactivate data acquisition (t=t_(c0)) (block 120). At this step, theassisting optoelectronic apparatus 2 samples at each sampling instantt_(ci) (i comprised between 0 and n): the distances of the target k fromthe grenade launcher 1 Dist_(target)=(Dist_(target)(t_(C0))₃, . . . ,Dist_(target)(t_(Cn))), the pitch angles α_(pitch)=(α_(pitch)(t_(C0)), .. . , α_(pitch)(t_(Cn))) and the heading anglesα_(head)=(α_(head)(t_(c0)), . . . , α_(head)(t_(Cn))) that define theattitude of the grenade launcher 1 (block 130) and stores the sampleddata in the memory unit 10 (block 140).

To this aim, the memory unit 10 can be conveniently structured so as toinclude a circular memory buffer 10 a (shown in FIG. 1) in which thesampled data Dist_(target)(t_(ci)) α_(pitch)(t_(ci)), α_(head)(t_(ci))acquired during sampling stored.

The electronic processing unit 9 verifies whether the memory buffer 10is saturated/full (block 150) and in a negative case (output NO fromblock 150), increases the sampling moment tci=tci+1 (block 160) andrepeats again the steps 130, 140, 150 so as to acquire new dataDist_(target)(t_(ci)) α_(pitch)(t_(ci)), α_(head)(t_(ci)) associatedwith the movement of the target k.

In a positive case (output YES from block 150), i.e., if the memorybuffer 10 is saturated/full, the electronic processing unit 9 temporallysorts the distance/attitude data Dist_(target)(t_(ci)),α_(pitch)(t_(ci)), α_(head)(t_(ci)) contained in the buffer memory 30(block 170), and processes the same sorted data Dist_(target)(t_(ci)),α_(pitch)(t_(ci)), α_(head)(t_(ci)) to determine the positions PI takenby the target k in time with respect to the Cartesian system S (X,Y,Z)(shown in FIG. 1) whose origin S (0,0,0) is positioned at apredetermined point of the grenade launcher 1, for example at the muzzleof the grenade launch tube 4 (block 180).

In detail, the electronic processing unit 9 computes the target positionvectors PI=Pi(t_(ci))=(XT(t_(ci)), YT(t_(ci)), ZT(t_(d)) starting fromthe initial sampling moment t_(ci)=t_(c0 to) to a final sampling momentt_(ci)=t_(cn):

XT=(Xtarget(t_(c0)), Xtarget(t_(d)), . . . , Xtarget(t_(cn)))

YT=(Ytarget(t_(c0)), Ytarget(t_(d)), . . . , Ytarget(t_(cn)))

ZT=(Ztarget(t_(c0)), Ztarget(t_(d)), . . . , Ztarget(t_(cn)))

The electronic processing unit 9 computes on the basis of vectors IPcontaining the coordinates of the positions taken by the target k intime, and by way of an optimization method, e.g., such as the method ofleast squares or any other similar motion approximation method of thepolynomial functions, preferably, but not necessarily, of first degree,which allow to establish with a certain degree of approximation, theactual positions Pi(t_(c0)), Pi(t_(cn)) and next positions Pi(tc_(n+1))P(t_(cn+k)) taken by the target k during its movement (block 190).

In particular, in this step the method implements the followingrelations that allow to determine, by way of the polynomial functionsF(X), F(y), F(Z) preferably but not necessarily of first degree, themovement of the target in space:

F(X)=a _(x) +b _(x) *X _(i)

F(y)=a _(y) +b _(y) *Y _(i)

F(Z)=a _(z) +b _(z) *Z _(i)  a)

wherein Xi, Yi and Zi are the polynomial variables and a_(i) is apredetermined value, and b_(i) is a predetermined angular coefficient.

At this point, the electronic processing unit 9 computes the idealgrenade motion (block 200), implementing an algorithm that determines,starting from an assistance request moment t_(act), the solution to theproblem of the ideal grenade motion subject to gravitational force, byway of the determination of range GIT, of the output speed V_(IN) fromthe grenade launcher 1, the ideal pitch angle αideal_(pitch) and of theflight time t_(flight) used by the grenade to strike the target k.

It should be made clear that the assistance request moment t_(act) cancorrespond to the moment when the operator by way of the graphicalinterface 8 gives a command signal requesting the computation ofshooting attitude.

In particular, the electronic processor 1 computes:

GIT=√{square root over (X _(T) ²(t _(act))+Y _(T) ²(t _(act))+Z _(T) ²(t_(act)))}{square root over (X _(T) ²(t _(act))+Y _(T) ²(t _(act))+Z _(T)²(t _(act)))}{square root over (X _(T) ²(t _(act))+Y _(T) ²(t _(act))+Z_(T) ²(t _(act)))}

V _(IN) =V _(IN0)+(T−273.15)*V _(IN1)

αideal_(pitch)=(1/2)arcsin(GIT*g/V _(IN) ²)

t _(flight)=2*(V _(IN) /g)sin(αideal_(pitch))  b)

wherein XT(t_(act)), YT(t_(act)) and ZT(t_(act)) are the coordinates ofthe position PI of the grenade at the assistance request moment t_(act).

The electronic processing unit 9 initializes a counter Inum=0 (block210) and computes (block 220) the impact moment t_(imp) of the grenadeon the target k by way of the following relation:

t _(imp) =t _(act) +t _(flight)  c)

The electronic processing unit 9 computes by way of the polynomialfunctions F(X), F(Y), F(Z) the target position XT(t_(imp)), YT(t_(imp)),ZT(t_(imp)) at impact moment t_(imp), and determines the distanceDist_(target) of the target k with respect to the grenade launcher 1 atimpact moment t_(imp) itself by way of the following relation:

Dist_(target)(t _(imp))=√{square root over (X _(T) ²(t _(imp))+Y _(T)²(t _(imp))+Z _(T) ²(t _(imp)))}{square root over (X _(T) ²(t _(imp))+Y_(T) ²(t _(imp))+Z _(T) ²(t _(imp)))}{square root over (X _(T) ²(t_(imp))+Y _(T) ²(t _(imp))+Z _(T) ²(t _(imp)))}  d)

The electronic processing unit 9 determines (block 230) a pitch angleα_(pitch) corresponding to the angle to be given to the grenade launcher1 to strike the target k under ideal conditions, by way of the followingrelation:

$\begin{matrix}{{\alpha \; i_{pitch}} = {\arctan ( \frac{{YT}( t_{imp} )}{{Dist}_{target}( t_{imp} )} )}} &  e )\end{matrix}$

At this point, the electronic processing unit 9 determines whether:

f) the impact distance of Dist_(target) is within a predetermineddistance range delimited by a minimum α_(TMIN) and a maximum α_(TMAX)value;g) the pitch angle α_(ipitch) is within a predetermined angular rangedelimited by a minimum α₁ and a maximum α₂ value, in which α₁conveniently has a value of about −0.78 and α₂ conveniently is equal toapproximately 0.78 (block 240).

In the event in which at least one of the conditions f) and g) is notsatisfied (output NO from block 240), the assisting optoelectronicapparatus 2 generates a message that alerts the operator of a conditionof non-possibility to compute the shooting angle and requests executionof a new pointing of the target and a new data acquisition (blocks110-230).

However, if the conditions f) and g) are both satisfied (output YES fromblock 240), the electronic processing unit 9 initializes an integratingcounter i=1 (block 250) to determine the actual trajectory of thegrenade on the basis of the ideal trajectory, of the ballistic data, ofthe environmental data and of the accuracy data.

In particular, the electronic processing unit 9 computes a realinfinitesimal displacement Δx_(i) and Δy_(i) of the grenade with respectto the axes X and Y, in a moment of time t=t_(act)+i*dt, where dt is apredetermined integrating interval by way of the following relations h)and i) (block 260):

$\begin{matrix}{{\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{in} \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}}}}} &  h ) \\{{\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{in} \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}} &  i )\end{matrix}$

At this point, the electronic processing unit 9 increases theintegrating counter i=i+1 and computes the slope of the actualtrajectory of the grenade at moment t_(i)=t_(act)+i*dt by way of thefollowing relation) (block 270):

$\begin{matrix}{\alpha_{i_{projectile}} = {\tan^{- 1}( \frac{\Delta \; y_{i}}{\Delta \; x_{i}} )}} &  l )\end{matrix}$

The electronic processing unit 9 further computes the speed of thegrenade Vi_(projectile) at moment t_(i) by way of the following relationf) (block 280):

$\begin{matrix}{V_{i_{projectile}} = \sqrt{\frac{{\Delta \; x_{i}^{2}} + {\Delta \; y_{i}^{2}}}{{dt}^{2}}}} &  m )\end{matrix}$

The electronic processing unit 9 increases again the integrating counteri=i+1 (block 290) and computes the subsequent real infinitesimaldisplacements Δxi Δyi afflicting the grenade in moments of timet_(i)=t_(act)+i*dt.

In this case, the calculation of each infinitesimal displacement Δxi andΔyi of the grenade along the actual trajectory made in each timeinterval dt is calculated by way of the following relation n) and o)(block 300):

$\begin{matrix}{{\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}}}}} &  n ) \\{{\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} + {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}} &  o )\end{matrix}$

With reference to FIG. 4 c, following the computation of theinfinitesimal displacement, the electronic processing unit 9 determinesthe new trajectory slope, the new speed of the grenade, and so on untildetermining the whole actual trajectory corresponding to the ideal startangle αipitch.

In particular, for each integration step of the trajectory, theelectronic processing unit 9 verifies whether a first or secondcondition is satisfied in which:

p) the first condition is satisfied whenX_(i)=ΔX_(i)+X_(i-1)>=XT(t_(imp)) and the selected shot is flat;q) the second condition is satisfied when:Y_(i)=ΔY_(i)+Y_(i-1)<=YT(t_(imp)), variation Δyi of the grenade isnegative and the selected shot is non-flat (block 310).

If the first p) and the second q) condition are not satisfied (output nofrom block 310), the electronic processing unit 9 executes again thedescribed steps in blocks 270, 280, 290, 300, 310 so as to continue theprocess of “integration” of the infinitesimal displacements of thegrenade to determine the actual trajectory thereof.

However, if one or both conditions p) or q) are satisfied (output yesfrom block 310), then the electronic processing unit 9 verifies (block320) if the third and fourth conditions are satisfied in which:

r) the third condition is satisfied when the displacement X_(i) of thegrenade is in the range delimited by a minimum value XT(t_(imp))−err_(x)and a maximum value XT(t_(imp))+err_(x); whiles) the fourth condition is satisfied when the displacement Y_(i) of thegrenade is in the range delimited by a minimum value YT(t_(imp))−err_(s)and a maximum value YT(t_(imp))+err_(y) (block 320).

If the third r) and fourth s) condition is satisfied (output yes fromblock 320), the electronic processing unit 9 gives to the pitch shootingangle the value of the pitch angle given from the method in the initialstep (i.e. in the block 270) of the computing cycle α_(ipitch):

αf_(pitch)=α_(ipitch) (block 330).

If at least one of r) or s) conditions is not met (output no from block320) then the electronic processing unit 9 starts computing a newtrajectory (block 340), in which the starting angle α_(pitch) varies byway of the relation s) in case of “flat” shot, or by way of the relationt) in case of “non flat” shot:

$\begin{matrix}{\alpha_{ipitch} = {\alpha_{ipitch} + {\tan^{- 1}( \frac{{{YT}( t_{imp} )} - y_{i}}{{Dist}_{target}( t_{imp} )} )}}} &  s ) \\{{{\alpha \; i_{pitch}} = {\alpha_{ipitch} - 0}},{3 \cdot {\tan^{- 1}( \frac{{{XT}( t_{imp} )} - x_{i}}{\max ( y_{i} )} )}}} &  t )\end{matrix}$

Wherein max(yi) is the maximum value of the trajectory along the Y axis(shown in FIG. 10).

In this case, the electronic processing unit 9 implements again theabove described steps provided in the blocks 260-340.

Following the computation of the shooting pitch angleαf_(pitch)=α_(ipitch), the electronic processing unit 9 computes theshooting heading angle αf_(head) by way of the following mathematicalrelation u):

${\alpha \; {f_{head}( I_{num} )}} = {{\alpha_{head}( t_{imp} )} + {\arctan \; {g( {{GIT}_{X}*0.034*{\tan ( \frac{{\alpha \; f_{pitch}} - {\alpha \; i_{projectile}}}{{Dist}_{target}( t_{imp} )} )}} }}}$

wherein GIT_(X) is the projection of the range GIT on the X axis andα_(head)(t_(imp)) is the azimuth position of the target k at the impacttime t_(imp) of the grenade on the target k itself (block 350).

At this point the electronic processing unit 9 increases the counterI_(num)=I_(num)+1 (block 360) and verifies (block 370) if:

u) I_(num)>=ITMAX; where ITMAX is a predetermined threshold indicating amaximum number of interactions that can be made during a predeterminedcomputing interval Δt;

αf _(pitch)(I _(num))−αf _(pitch)(I _(num-1))|<=MinDiff  v)

wherein MinDiff is a predetermined threshold.

In the event that either condition u) or v) is not satisfied (output nofrom block 370), the electronic processing unit 9 provides tore-implement the block operations 220-370.

With reference to FIG. 4 d, whereas if the two conditions u) or v) aresatisfied (output yes from block 370), the electronic processing unit 9confirms the assignment to the shooting pitch angle, and assigns theshooting heading angle αf_(head)=αf_(head)(I_(num)), preferably, but notnecessarily, to a parameter ISP indicating the moment of explosion ofthe grenade, the impact moment t_(imp); to the target distanceDist_(target) the value range of the range GIT(t_(imp)) and to acounting parameter of the number of cycles NUMCI the counter valueI_(num) (block 380).

At moment t_(act), the electronic processing unit 9 determines theeffective pitch angle α_(pitch)(t_(act)) and verifies if the followingfirst conditional) is satisfied (block 400):

|Δα_(pitch)(t _(act))|<S1  a1)

where Δα=α_(pitch)−α_(pitch)(t_(act)) and S1 is a predeterminedthreshold.

In a positive case, i.e. if the condition a1) is satisfied (output YESfrom block 400), the electronic processing unit 9 determines that thepitch angle α_(pitch)(t_(act)) corresponds to the final pitch angleαf_(pitch), i.e., that the grenade launcher 1 has a correct pitchattitude (block 410) and therefore does not require movements of thegrenade launcher 1 adapted to vary the pitch angle α_(pitch)(t_(act))itself.

The electronic processing unit 9 commands, by way of the user interface8, the maintaining of segments N1 and N2 in the off condition so as tocommunicate to the operator the absence of rotations i.e., variations ofthe pitch angle to be given to the grenade launcher 1 (block 410) (FIG.8).

In a negative case (output NO from block 400), i.e., if the conditional)is not satisfied, the electronic processing unit 9 determines theinteger to be assigned to the unknown value n_(pitch) to satisfy thecondition a2):

Δα_(pitch)(t _(act))=n _(pitch) *Sa  a2)

where Sa is a predetermined angular value associated with each segmentof the graphical cross (block 420).

At this point if n_(pitch) has a positive value, the electronicprocessing unit 9 controls the switching on of a number N1′=n_(pitch) ofthe luminous segments of the graphical attitude cross 18 by way of theuser interface 8 (FIGS. 5,7), while if n_(pitch) has a negative value,the electronic processing unit 9 controls the switching on of a numberN2′=n_(pitch) of the luminous segments of the graphical attitude cross14 by way of the user interface 8 (block 430) (FIG. 6).

At moment t_(act), the electronic processing unit 9 also determines theheading angle α_(head)(t_(act)) and verifies if the following conditionb1) is satisfied (block 450):

|Δα_(head)(t _(act))|<S2  b1)

where Δα_(head)(t_(act))=α_(fhead)−α_(head)(t_(act)) where S2 is apredetermined threshold.

In a positive case (output yes from block 450), i.e., if the conditionb1) is satisfied, the electronic processing unit 9 determines that theheading angle α_(head)(t_(act)) corresponds to the final heading angleαf_(head), i.e., that the grenade launcher 1 has a correct headingattitude (block 460) and therefore does not require movements of thegrenade launcher 1 adapted to vary the heading angle α_(head) itself.

The electronic processing unit 9 commands, through the user interface 8,the maintaining of segments N3 and N4 in a switching off position so asto communicate to the operator the absence of rotations α_(head) to begiven to the grenade launcher 1 (FIGS. 5 and 8).

In a negative case, i.e., if the condition b1) is not satisfied, theelectronic processing unit 9 determines the integer to be assigned tothe unknown value n_(head) to satisfy the following condition b2):

Δα_(head) =n _(head) *Sa(block 470)  b2)

At this point if n_(head) has a positive value, the electronicprocessing unit 9 controls the switching on of a number N3′=n_(head) ofthe luminous segments of the graphical attitude cross 18 (FIG. 7), whileif n_(head) has a negative value, the electronic processing unit 9controls the switching on of a number N4′=n_(head) of the luminoussegments of the graphical attitude cross 18 (block 480) (FIG. 6).

In the case in which the relations a1) and b1) are satisfied theelectronic processing unit 9 communicates to the operator the correctpositioning of the grenade launcher 1 in the shooting attitude (block500). In this case, in the example shown in FIG. 8, the electronicprocessing unit 9 controls the switching off of all segments andpreferably, but not necessarily, the switching on of a central graphicalicon including, for example, a circle centered on the center.

At this point the electronic processing unit 9 verifies if the computinginterval Δt from the moment in which the operation has been carried outin block 210 (block 510) has passed and in a negative case (output nofrom block 510) remains in a waiting condition, while in a positive case(output yes from block 510) updates the actual moment t_(act) by givingit the current moment, measured for example by way of an internal clock(block 520), and executes again the operation implemented in the block200 and the subsequent operations.

From the above described it should be noted that the above-describedoperations shown in FIGS. 4 a-4 d can be encoded in a software programstored in the memory unit 10 and configured so that when it is loadedonto the electronic processing unit 9 the latter executes the sameoperations thereof so as to assist the operator in moving the grenadelauncher.

The above-described assisting optoelectronic apparatus may be extremelyadvantageous because it automatically provides to the military operatora precise indication of the orientation to be given to the grenadelauncher in such a way so as to successfully strike a moving target.

Finally, it is clear that changes and variations to the electronicapparatus and to the functioning method may be applied without extendingbeyond the scope of the present disclosure.

From the foregoing it will be appreciated that, although specificembodiments have been described herein for purposes of illustration,various modifications may be made without deviating from the spirit andscope of the disclosure. Furthermore, where an alternative is disclosedfor a particular embodiment, this alternative may also apply to otherembodiments even if not specifically stated.

1. An optoelectronic digital apparatus (2) for assisting an operator indetermining the shooting attitude to be given to a hand-held grenadelauncher (1) so as to strike a moving target (k), through a grenade;said apparatus (2) being characterized by comprising: measuringelectronic means (6)(7) configured so as to measure the pitch angle(α_(pitch)) and the heading angle (α_(head)) indicative of the attitudeof the grenade launcher (1), and the distance (Dist_(target)) of thetarget (k) from the hand-held grenade launcher (1); user interface means(8) configured so as to receive an operator-assistance request at afirst operative time (t_(act)), and communicate indications on theangles to cause the grenade launcher (1) to strike a moving target (k);memory means (10) containing ammunition-data (S, m, C_(d), C₁, V_(IN),V_(IN1)) indicative of the ballistic behaviour of said grenade;environmental-data indicative of the environmental parameters (p, R);and precision-data (err_(x), err_(y)) indicative of the required impactprecision; and processing electronic means (9) configured so as to:measure, through said measuring electronic means (7), a plurality ofpitch angles (α_(pitch)(t_(ci))) and heading angles (α_(head)(t_(ci)))taken in a sequence from the grenade launcher (1) in a predetermineddata sampling range, during which the operator moves the grenadelauncher (1) to maintain it pointed towards the moving target (k);measure, through said measuring electronic means (6), a plurality ofdistances Dist_(target)(t_(ci)) taken in a sequence by the target (k)from the grenade launcher (1) during said data sampling range; determinea displacement mathematical function (F(X), F(y), F(Z)) associated tothe motion of the target (k), on the basis of the pitch angles(α_(pitch)(t_(ci))) of the heading angles (α_(heading)(t_(ci))) and ofthe distances (Dist_(target)(t_(ci))) measured during said data samplingrange; determine an ideal pitch angle (αi_(pitch)) and a theoreticalimpact time (t_(imp)) of the grenade on the target (k), through saiddisplacement mathematical function and on the basis of theammunition-data; determine, on the basis of said ideal pitch angle(αi_(pitch)), ammunition-data, environmental-data and precision-data, ashooting attitude comprising a shooting pitch angle (αf_(pitch)) and ashooting heading angle (αf_(head)) to be given to the grenade launcher(1) so that the grenade strikes the target (k) at said impact time(t_(imp)); measure, through said measuring electronic means (7), theactual pitch angle (α_(pitch)(t_(act))) and the actual heading angle(α_(heading)(t_(act))) indicating the attitude given by the operator tothe grenade launcher (1) at said first operative time (t_(act)); computea pitch difference (Δ60 _(pitch)(t_(act))) between the shooting pitchangle (αf_(pitch)) and the actual pitch angle (α_(pitch)(t_(act)))measured at said first operative time (t_(act)); compute a headingdifference (Δα_(pitch)(t_(act))) between the shooting heading pitch(αf_(head)) and the heading angle (α_(head)(t_(act))) measured at saidfirst operative time (t_(act)); communicate, through said user interface(8), data indicative of the variation of the pitch angle and/or of theheading angle which the operator must give to the grenade launcher (1)so that the pitch difference (Δα_(pitch)(t_(act))) and the headingdifference (Δα_(head)(t_(act))) measured at said first operative time(t_(act)) is zero.
 2. The digital apparatus (2) according to claim 1,wherein said processing electronic means (9) are configured so as to:determine an initial pitch angle (αi_(pitch)) through said displacementmathematical function (F(X), F(y), F(Z)) on the basis of saidammunition-data and of said impact time (t_(imp)); compute a trajectoryof said grenade on the basis of said initial pitch angle (αi_(pitch))and of said ammunition-data and of said environmental-data; vary saidinitial pitch angle (αi_(pitch)) until the corresponding trajectory ofthe grenade does not satisfy a convergence condition towards said target(k); assign, to said shooting pitch angle (αf_(pitch)), the pitch angle(αi_(pitch)) corresponding to the trajectory of the grenade thatsatisfies said convergence condition.
 3. The apparatus according toclaim 2, wherein said processing electronic means (9) are configured soas to: receive, through said interface means (8), a selection control ofa flat-trajectory shot type or of a non-flat-trajectory shot type; incase a flat-trajectory shot is selected, vary said initial pitch angle(αi_(pitch)) through the following relation:$\alpha_{ipitch} = {\alpha_{ipitch} + {\tan^{- 1}( \frac{{{YT}*( t_{imp} )} - y_{i}}{{Dist}_{target}} )}}$in case a non-flat-trajectory shot is selected, vary said initial pitchangle (αi_(pitch)) through the following relation:${\alpha \; i_{pitch}} = {\alpha_{ipitch} - {0.3 \cdot {\tan^{- 1}( \frac{{{XT}( t_{imp} )} - x_{i}}{\max ( y_{i} )} )}}}$wherein XT(t_(imp)) and YT(t_(imp)) are the coordinates of the positionof the target (k) at the time of impact; xi and yi are the coordinatesof the position taken by the grenade along the trajectory at a time i,determined with respect to a reference Cartesian system (S(X,Y,Z)); andmax(yi) is the maximum value of the coordinate of the trajectory of thegrenade along a first axis (Y) of the reference Cartesian system(S(X,Y,Z)).
 4. The apparatus according to claim 3, wherein saidprocessing electronic means (9) are configured so as to compute saidshooting heading angle (αf_(head)) through the following relation:${\alpha_{head}( I_{num} )} = {{\alpha_{head}( t_{imp} )} + {\arctan \; {g( {{GIT}_{X}*0.034*{\tan ( \frac{{\alpha \; f_{pitch}} - {\alpha \; i_{projectile}}}{{Dist}_{target}( t_{imp} )} )}} }}}$wherein GIT_(X) is the projection of the throw of the grenade along theconverging trajectory on a second axis (X) of said reference Cartesiansystem (S(X,Y,Z)).
 5. The apparatus according to claim 4, wherein saidprocessing electronic means (9) are configured so as to: compute a firstinfinitesimal displacement (x_(i), y_(i)) associated to the trajectoryof said grenade along said first (Y) and second axis (X) on the basis ofsaid initial pitch angle (αi_(pitch)) and of said ballistic data and ofsaid environmental-data, through the relations:${\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{in} \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}}}}$${\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{in} \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}$wherein S is the front area of the grenade; m is the mass of thegrenade; Cd is the aerodynamic drag coefficient of the grenade; Vin isthe shooting speed of the grenade; compute a first angle of inclinationof the grenade through the relation:$\alpha_{i_{projectile}} = {\tan^{- 1}( \frac{\Delta \; y_{i}}{\Delta \; x_{i}} )}$compute a shooting speed of the grenade through the relation:$V_{i_{projectile}} = \sqrt{\frac{{\Delta \; x_{i}^{2}} + {\Delta \; y_{i}^{2}}}{{dt}^{2}}}$sequentially compute infinitesimal displacements (x_(i), y_(i))associated to the trajectory of said grenade along said first (Y) andsecond axis (X) on the basis of said initial pitch angle (αi_(pitch)) ofsaid ballistic data and of said environmental-data, in which eachcomputation implements said relations:${\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}}}}$${\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} + {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}$6. The apparatus according to claim 5, wherein said processingelectronic means (9) are configured so as to determine the convergencecondition of said trajectory towards the target (j) when a first or asecond condition is satisfied said first condition occurring if:X_(i)=ΔX_(i)+X_(i-1)>=XT(t_(imp)) and the selected shot type is aflat-trajectory shot; said first condition occurring if:Y_(i)=ΔY_(i)+Y_(i-1)<=YT(t_(imp)), the variation Δyi of the grenade isnegative; and the selected shot type is a non-flat-trajectory shot. 7.The apparatus according to claim 6, wherein said processing electronicmeans (9) are configured so as to vary said initial pitch angle(αi_(pitch)) when a third or a fourth condition are not satisfied; inwhich the third condition is satisfied if the position X_(i) of thegrenade is comprised in the range defined by a minimum valueXT(t_(imp))−err_(x) and a maximum value corresponding toXT(t_(imp))+err_(x) in which err is a value of said precision-data thatindicates the precision required along said second axis (X); while thefourth condition is satisfied if the value Y_(i) of the grenade iscomprised in the range defined by a minimum value YT(t_(imp))−err_(y)and a maximum value corresponding to YT(t_(imp))+err_(y) in whicherr_(y) is a value of said precision-data that indicates the precisionrequired along said first axis (Y).
 8. The apparatus according to claim7, wherein said interface means (8) comprise a display (14) displaying agraphical attitude cross (18) provided with a plurality of luminoussegments arranged aligned one after the other so as to form a first (20)and a second attitude branch (21); said processing electronic means (9)being configured to switch on/off: the segments of a first attitudebranch (20) as a function of the variation of the pitch angle(Δα_(pitch)) to be given to the grenade launcher (1) so as to orient itin the shooting attitude; and/or the segments of a second attitudebranch (21) orthogonal to the first attitude branch (20), as a functionof the variation of the heading angle (Δα_(head)) to be given to thegrenade launcher (1) so as to orient it in the shooting attitude.
 9. Amethod for assisting an operator through an optoelectronic digitalapparatus (2) in determining the shooting attitude of a hand-heldgrenade launcher (1) so as to strike a moving target (k) through thegrenade, wherein said digital apparatus (2) comprises measuringelectronic means (6) (7) configured so as to measure the pitch angle(α_(pitch)) and the heading angle (α_(head)) indicative of the attitudeof the grenade launcher (1), and the distance (Dist_(target)) of thetarget (k) from the hand-held grenade launcher (1); user interface means(8) configured so as to receive an operator-assistance request at afirst operative time (t_(act)), and communicate indications on theattitude to be given to the grenade launcher (1) so as to strike themoving target (k); memory means containing ammunition-data (S, m, C_(a),indicative of the ballistic behaviour of said grenade;environmental-data indicative of the environmental parameters (p,R); andprecision-data (err_(x),err_(y)) indicative of the required impactprecision; said method being characterized by comprising the steps of:measuring, through said measuring electronic means (7), a plurality ofpitch angles (α_(pitch)(t_(ci))) and heading angles (α_(head) t_(ci)))taken in a sequence by the grenade launcher (1) in a predetermined datasampling range, during which the operator moves the grenade launcher (1)to maintain it pointed towards the moving target (k); measuring, throughsaid measuring electronic means (6), a plurality of distancesDist_(target)(t_(ci)) taken in a sequence by the target (k) from thegrenade launcher (1) during said data sampling range; determining adisplacement mathematical function (F(X), F(y), F(Z)) associated to themotion of said target, on the basis of the pitch angles(α_(pitch)(t_(ci)), of the heading angles (α_(heading)(t_(ci))) and ofthe distances (Dist_(target)(t_(ci))) measured during said data samplingrange; determining an ideal pitch angle (αi_(pitch)) and a theoreticalimpact time (t_(imp)) of the grenade on the target (k), through saiddisplacement mathematical function and on the basis of theammunition-data; determining, on the basis of said ideal pitch angle(αi_(pitch)) and of the ammunition-data, a shooting attitude comprisinga shooting pitch angle (αf_(pitch)) and a shooting heading angle(αf_(head)) to be given to the grenade launcher (1) so that the grenadestrikes the target (k) at said impact time (t_(imp)); measuring, throughsaid measuring electronic means (7), the actual pitch angle(α_(pitch)(t_(act))) and the actual heading angle (α_(heading)(t_(act)))indicating the attitude given by the operator to the grenade launcher(1) at said first operative time (t_(act)); computing a pitch difference(Δα_(pitch)(t_(act))) between the shooting pitch angle (αf_(pitch)) andthe actual pitch angle (α_(pitch)(t_(act))) measured at said firstoperative time (t_(act)); computing a heading difference(Δα_(head)(t_(act))) between the shooting heading angle (αf_(head)) andthe heading angle (α_(head)(t_(act))) measured at said first operativetime (t_(act)); communicating, through said user interface (8), dataindicative of the variation of the pitch angle and/or of the headingangle which the operator must give to the grenade launcher (1) so thatthe pitch difference (Δα_(pitch)(t_(act))) and the heading difference(α_(head)(t_(act))) measured at said first operative time (t_(act)) iszero.
 10. The method according to claim 9, comprising the steps of:determining an initial pitch angle (αi_(pitch)) through saiddisplacement mathematical function (F(X), F(y), F(Z)) on the basis ofsaid ammunition-data and of said impact time (t_(imp)); computing atrajectory of said grenade on the basis of said initial pitch angle(αi_(pitch)) and of said ammunition-data and of said environmental-data;varying said initial pitch angle (Δi_(pitch)) until the correspondingtrajectory of the grenade does not satisfy a convergence conditiontowards said target (k); assigning the pitch angle (αi_(pitch))corresponding to the trajectory of the grenade that satisfies saidconvergence condition to said shooting pitch angle (αf_(pitch)).
 11. Themethod according to claim 10, comprising the steps of: receiving,through said interface means (8), a selection control of aflat-trajectory shot type or of a non-flat-trajectory shot type; in casea flat-trajectory shot is selected, varying said initial pitch angle(αi_(pitch)) through the following relation:$\alpha_{ipitch} = {\alpha_{ipitch} + {\tan^{- 1}( \frac{{{YT}( t_{imp} )} - y_{i}}{{Dist}_{target}} )}}$in case a non-flat-trajectory shot is selected, varying said initialpitch angle (αi_(pitch)) through the following relation:${\alpha \; i_{pitch}} = {\alpha_{ipitch} - {0.3 \cdot {\tan^{- 1}( \frac{{{XT}( t_{imp} )} - x_{i}}{\max ( y_{i} )} )}}}$wherein XT(t_(imp)) and YT(t_(imp)) are the coordinates of the positionof the target (k) at the time of impact; xi and yi are the coordinatesof the position taken by the grenade along the trajectory at a time i,determined with respect to a reference Cartesian system (S(X,Y,Z)); andmax(yi) is the maximum value of the coordinate of the trajectory of thegrenade along a first axis (Y) of the reference Cartesian system(S(X,Y,Z)).
 12. The method according to claim 11, comprising the stepsof computing said shooting heading angle (αf_(head)), through thefollowing relation:${\alpha_{head}( I_{num} )} = {{\alpha_{head}( t_{imp} )} + {\arctan \; {g( {{GIT}_{X}*0.034*{\tan ( \frac{{\alpha \; f_{pitch}} - {\alpha \; i_{projectile}}}{{Dist}_{target}( t_{imp} )} )}} }}}$wherein GIT_(x) is the projection of the throw of the grenade along theconverging trajectory on a second axis (X) of said reference Cartesiansystem (S(X,Y,Z)).
 13. The method according to claim 12, comprising thesteps of: computing a first infinitesimal displacement (x_(i), y_(i))associated to the trajectory of said grenade along said first (Y) andsecond axis (X) on the basis of said initial pitch angle (αi_(pitch))and of said ballistic data and of said environmental-data, through therelations:${\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{in} \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}}}}$${\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{in} \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{pitch}} )} \cdot V_{in}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}$wherein S is the front area of the grenade, i.e.; m is the mass of thegrenade; Cd is the aerodynamic drag coefficient of the grenade; Vin isthe shooting speed of the grenade; computing a first angle ofinclination of the grenade through the relation:$\alpha_{i_{projectile}} = {\tan^{- 1}( \frac{\Delta \; y_{i}}{\Delta \; x_{i}} )}$computing a shooting speed of the grenade through the relation:$V_{i_{projectile}} = \sqrt{\frac{{\Delta \; x_{i}^{2}} + {\Delta \; y_{i}^{2}}}{{dt}^{2}}}$sequentially computing infinitesimal displacements (x_(i), y_(i))associated to the trajectory of said grenade along said first (Y) andsecond axis (X) on the basis of said initial pitch angle (αi_(pitch)),of said ballistic data and of said environmental-data, in which eachcomputation implements said relations:${\Delta \; x_{i}} = {( {x_{i} - x_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}}}}$${\Delta \; y_{i}} = {( {y_{i} - y_{i - 1}} ) = {{V_{i_{projectile}} \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot {dt}} - {\frac{1}{2}{( {\frac{C_{d}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\sin ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} + {\frac{1}{2}{( {\frac{C_{l}}{m} \cdot S \cdot \frac{p}{R \cdot T}} ) \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot {\cos ( \alpha_{i_{projectile}} )} \cdot V_{i_{projectile}}^{2} \cdot {dt}^{2}}} - {g \cdot {dt}^{2}}}}$14. The method according to claim 9, comprising the steps of:determining the convergence condition of said trajectory towards thetarget (j) when a first or a second condition is satisfied said firstcondition occurring if: X_(i)=ΔX_(i)+X_(i-1)>=XT(t_(imp)) and theselected shot type is a flat-trajectory shot; said second conditionoccurring if: Y_(i)=ΔY_(i)+Y_(i-1)<=YT(t_(imp)), the variation Δyi ofthe grenade is negative; and the selected shot type is anon-flat-trajectory shot.
 15. The method according to claim 9,comprising the steps of: varying said initial pitch angle (αi_(pitch))when a third or fourth condition are not satisfied; wherein the thirdcondition is satisfied if the position X_(i) of the grenade is comprisedin the range defined by a minimum value XT(t_(imp))−err_(x) and amaximum value corresponding to XT(t_(imp))+err_(x) in which err_(x) is avalue of said precision-data that indicates the precision required alongsaid second axis (X); while the fourth condition is satisfied if theposition Y_(i) of the grenade is comprised in the range defined by aminimum value YT(t_(imp))−err_(y) and a maximum value corresponding toYT(t_(imp))+err_(y) in which err_(y) is a value of said precision-datathat indicates the precision required along said first axis (Y).
 16. Themethod according to claim 15, wherein said interface means (8) comprisea display (14) adapted to display a graphical attitude cross (18)provided with a plurality of luminous segments arranged aligned oneafter the other so as to form a first (20) and a second attitude branch(21); said method comprising the steps of switching on/off: the segmentsof a first attitude branch (20) as a function of the variation of thepitch angle (Δα_(pitch)) to be given to the grenade launcher (1) so asto orient it in the shooting attitude; and/or the segments of a secondattitude branch (21) orthogonal to the first attitude branch (20), as afunction of the variation of the heading angle (Δα_(head)) to be givento the grenade launcher (1) so as to orient it in the shooting attitude.17. A computer product loadable on a memory of an electronic processingunit designed to implement, when run by the electronic processing unit,the method according to any of claims 9 to 16, so as to assist anoperator in determining the shooting attitude to be given to a hand-heldgrenade launcher (1) to strike a moving target (k).